Self-cleaning optical sensor assembly

ABSTRACT

Embodiments of the present disclosure address problems presented by contaminants, such as dirt and debris, by providing an optical apparatus with techniques and methodologies for self-cleaning. In that regard, embodiments of the present disclosure employ techniques and methodologies for maintaining a very thin (e.g., few microns thick) layer of liquid, such as a non-stick liquid, on an optical window of an optical body that shields or protects an optical device.

FIELD OF THE DISCLOSURE

The present disclosure is directed to an assembly or system whichenables an optical device, such as an electro-optical sensor, aphotoelectric sensor, an image sensor, a light sensor, a camera, anoptical emitter, an optical detector, etc., to self-clean in dirtyenvironments.

BACKGROUND

There is an ever-increasing demand for performing vision-based sensingin heavy duty industries. In these environments, a transparent cover oroptical window is typically employed to protect the vision-based sensorduring use. In order to maintain reliable performance, it is importantthat the outer surface of the optical window remain clean and free ofdirt, debris or other contamination. Unfortunately, their employment indirty environments, such as oil, material handling, mining, constructionand forestry industries, make them susceptible to contamination andfouling thereby. In some instances, the contamination can, for example,cause a deterioration of performance over time due to dirt and smudgeaccumulating on the optical window. The situation is worsened when thedirty environment is coupled with an installation location which is hardto reach or doing so would require shutting down the operation.

SUMMARY

Embodiments of the present disclosure address problems presented bycontaminants, such as dirt and debris, by providing an optical apparatuswith techniques and methodologies for self-cleaning. In that regard,embodiments of the present disclosure employ techniques andmethodologies for maintaining a very thin (e.g., a few microns thick)layer or film of liquid, such as a non-stick liquid, on an opticalwindow of an optical body that shields or protects an optical device. Inone embodiment, the layer of liquid is thinner than the surfaceroughness of the optical body, and has a low vapor pressure leading to alow evaporation rate to ensure that it lasts on the surface betweenself-cleaning cycles.

During service, contaminants land on the thin liquid layer or filmcovering the optical window of the optical body. Based on a preselectedtime, an external command, or in response to an output of a dirt/debrissensor, a cleaning cycle is initiated to clean the optical window. Thecleaning cycle involves in one embodiment the reciprocating motion ofthe optical body, either rotationally or linearly, the results of whichinclude a thin film of fluid dispensed onto the optical window by afluid applicator. In one embodiment, the cleaning cycle involves thereciprocating motion of the optical body, either rotationally orlinearly, into and out of fluid contact with a fluid applicator as willbe explained below.

The fluid applicator is some embodiments include a fluid chamber thatholds the liquid, thereby forming a temporary or permanent fluidreservoir. A wiper is provided, for example, at the opening of the fluidchamber. The wiper is configured to clean the optical window by, forexample, scraping or wiping away contaminants that have landed on theoptical surface during use. A seal or the like is employed in someembodiments against the moving optical window in order to contain theliquid within the fluid chamber and to prevent leakage thereof. In someembodiments, the seal or the like, together with the fluid chamber, formthe fluid applicator. In this regard, the seal can also function to helpform or maintain a thin layer of liquid on at least the optical windowof the optical body.

To clean the optical window, the optical body is moved in a firstdirection with respect to the fluid applicator from a first or homeposition to a second position. In one embodiment, at least a portion ofthe optical body containing the optical window moves into the fluidchamber. As the optical body moves in the first direction, the wiperremoves the contaminants with ease as the liquid, such as non-stick filmin some embodiments, has impeded the adhesion of the contaminants to theexterior surface of the optical window. Continued movement of thecleaned optical window in the first direction causes the optical windowto be exposed to and in contact with the liquid contained within thefluid chamber.

Next, the optical window is moved in a second direction opposite thefirst direction from the second position to the home position. As theoptical window is moved to the home position, a thin liquid film orlayer remains on the exterior surface of the optical window.

Such a methodology is effective against removing hard to wipe and thickgrease- and oil-based contaminants as well as dirt, dust and debris. Thecombination of the thin liquid layer or film with a dedicated wiperensures reliable scraping of external matter from the optical window. Insome embodiments, such combination also prevents the liquid contained inthe fluid chamber from getting contaminated.

In accordance with an aspect of the present disclosure, an opticalassembly is provided. The optical assembly includes an optical bodyhaving an optical window and an optical device protected by the opticalbody. The optical device is configured with a line of sightcorresponding to the optical window. The optical assembly also includesa fluid applicator associated with the optical body. The fluidapplicator is configured to apply a layer of liquid over at least theoptical window of the optical body. The optical assembly also includes awiper associated with the optical body. The wiper is configured toremove contaminants from the optical window that land onto the layer ofliquid. The optical assembly further includes at least one actuatorconfigured to move one of: (1) the optical body; and (2) the fluidapplicator and wiper, through a cleaning cycle comprised of a firststage, wherein the wiper removes the layer of liquid from the opticalwindow of the optical body, and a second, subsequent stage, wherein thefluid applicator applies a layer of liquid onto at least the opticalwindow.

In some embodiments, the optical body is an optical cylinder. In otherembodiments, the optical body is an optical plate. In some of theseembodiments, the optical plate is disk shaped. In yet other of theseembodiments, the optical plate is rectangular shaped. The optical plateseach include a planar optical surface.

In some embodiments, the least one actuator is configured to move theone of: (1) the optical body; and (2) the fluid applicator and wiper, ina linearly reciprocating manner.

In some embodiments, the least one actuator is configured to move theone of: (1) the optical body; and (2) the fluid applicator and wiper, ina rotationally reciprocating manner.

In some embodiments, the at least one actuator is configured to move theone of: (1) the optical body; and (2) the fluid applicator and wiper, ina linearly reciprocating manner, a rotationally reciprocating manner, ora continuously rotational manner.

In some embodiments, the optical assembly additionally or alternativelyincludes one or more controllers configured to control the at least oneactuator.

In some embodiments, the optical assembly additionally or alternativelyincludes one or more sensors coupled in communication with the one ormore controllers.

In some of these embodiments, the one or more sensors include acontaminant presence sensor configured to detect the presence ofcontaminants on the optical window.

In some of these embodiments, the one or more sensors includes aposition sensor configured to generate a signal indicate of optical bodyposition.

In some embodiments, the optical assembly additionally or alternativelyincludes a liquid storage source configured to store the liquid.

In some of these embodiments, the one or more sensors include a liquidlevel sensor configured to detect the level of liquid contained in theliquid storage source.

In some embodiments, the liquid storage source includes a removablefluid cartridge.

In some embodiments, the fluid applicator includes a fluid chamberconfigured to hold a predetermined amount of liquid.

In some embodiments, the optical assembly alternatively or additionallyincludes a liquid storage source configured to store the liquid. Thefluid applicator includes a fluid chamber coupled in liquidcommunication with the liquid storage source.

In some embodiments, the optical assembly alternatively or additionallyincludes a first fluid line connecting the fluid chamber to the liquidstorage source, a second fluid line connecting the fluid chamber to theliquid storage source, a first check valve coupled to the first fluidline, the first check valve configured to allow liquid flow from fluidreservoir to the liquid storage source and to prevent liquid flow fromthe liquid storage source to the fluid chamber, and a second check valvecoupled to the second fluid line, the second check valve configured toallow liquid flow from the liquid storage source to the fluid chamberand to prevent liquid flow from the fluid chamber to liquid storagesource.

In some embodiments, the optical assembly alternatively or additionallyincludes a filter coupled in liquid communication with the first fluidline between the first check valve and the liquid storage source suchthat liquid passing through the first check valve passes through thefilter before entering the liquid storage source.

In some embodiments, the actuator is configured to impart linearreciprocating movement to the optical body. In other embodiments, theactuator is configured to impart linear reciprocating movement to thefluid applicator and the wiper.

In some embodiments, the actuator includes at least one lead screwmechanism each composed of an electric motor, a lead screw, and a leadscrew nut.

In some embodiments, each lead screw nut fixed against rotation.

In some embodiments, the optical assembly alternatively or additionallyincludes a fluid cylinder, wherein the optical body is configured toreciprocate into at least a portion of the fluid cylinder.

In some embodiments, the optical assembly alternatively or additionallyincludes a piston sealable associated with the fluid cylinder.

In some embodiments, the piston is coupled to at least a part of theactuator for movement therewith.

In some embodiments, the fluid applicator further includes a primaryseal disposed between the interior surface of the fluid cylinder and theexterior surface of the optical body, thereby forming a fluid chamber.

In some embodiments, the wiper is disposed adjacent the primary seal.

In some embodiments, the liquid includes a non-stick liquid.

In accordance with another aspect of the present disclosure, an opticalassembly is provided. The optical assembly includes an optical bodyhaving an optical window, an optical device protected by the opticalbody, an optical body cleaning mechanism configured to clean an outersurface of the optical body, a driving mechanism configured to impartmovement to the optical body with respect to optical body cleaningmechanism between a first position and a second position, and a fluiddispensing mechanism configured to apply a layer or film of a non-stickliquid onto the optical body. The optical body cleaning mechanism cleansthe outer surface of the optical body and the cleaning fluid dispensingmechanism applies a layer of non-stick liquid to the optical body as thedriving mechanism cycles the optical body from the first position to thesecond position and then to the first position.

In some embodiments, the driving mechanism is configured to impartlinearly reciprocating movement to the optical body. In otherembodiments, the driving mechanism is configured to impart rotationallyreciprocating movement to the optical body. In yet other embodiments,the driving mechanism is configured to impart a rotational movement tothe optical body.

In some embodiments, the optical body cleaning mechanism cleans theouter surface of the optical body as the driving mechanism moves theoptical body from the first position to the second position and thecleaning fluid dispensing mechanism forms a layer of non-stick liquid onthe optical body as the driving mechanism moves the optical body fromthe second position to the first position.

In accordance with another aspect of the present disclosure, a fluidcircuit is provided for an optical assembly. The optical assemblyincludes a fluid chamber, a liquid source, a first fluid line connectingthe fluid chamber to the liquid source, a second fluid line connectingthe fluid chamber to the liquid source, a first check valve coupled tothe first fluid line, the first check valve configured to allow liquidflow from the fluid chamber to the liquid source and to prevent liquidflow from the liquid source to the fluid chamber, and a second checkvalve coupled to the second fluid line, the second check valveconfigured to allow liquid flow from the liquid source to the fluidchamber and to prevent liquid flow from the fluid chamber to the liquidsource.

In some embodiments, the fluid circuit alternatively or additionallyincludes a filter coupled in liquid communication with the first fluidline between the first check valve and the liquid source such thatliquid passing through the first check valve passes through the filterbefore entering the liquid source.

In some embodiments, the fluid circuit alternatively or additionallyincludes a second fluid chamber and a third fluid line connecting thesecond fluid chamber to the liquid source.

In some embodiments, the third fluid line is coupled in liquidcommunication with the second fluid line in-between the second checkvalve and the liquid source.

In accordance with another aspect of the present disclosure, a method isprovided for cleaning an optical window of an optical assembly. Themethod includes applying a layer of liquid onto an optical body thatprotects an optical device, at least a portion of the optical bodyforming the optical window, exposing at least the optical window of theoptical body to an environment containing dirt or debris, moving theoptical body containing the optical window in a first direction withrespect to an internal chamber, cleaning the optical body containing theoptical window during movement of the optical body but prior to entryinto the internal chamber, coating the clean optical body containing theoptical window with a layer of liquid contained in the internal chamber;and moving the optical body having a layer of liquid in a seconddirection opposite the first direction to again expose at least theoptical window of the optical body to the environment.

In some embodiments, said moving the optical body containing the opticalwindow in a first direction is responsive to an output of acontamination sensor.

In some embodiments, said moving the optical body containing the opticalwindow in a first direction is responsive to a predetermined elapsedtime period.

In accordance with another aspect of the present disclosure, an opticalassembly is provided. The optical assembly includes an optical bodyhaving an optical window, an optical device protected by the opticalbody, wherein the optical device is configured with a line of sitecorresponding to the optical window, means for applying a liquid onto atleast the optical window, means for removing contaminants that land ontothe layer of liquid, and means for moving one of one or more opticalbodies and the means for applying a liquid with respect to the other oneof the one or more optical bodies and the means for applying a liquidthrough a cleaning cycle comprised of a first stage, wherein the meansfor removing contaminants removes any contaminants that landed onto thelayer of liquid along with at least a portion of the liquid layer, and asecond stage, wherein the means for applying a liquid applies a layer ofliquid onto the optical window.

In some embodiments, the optical assembly alternatively or additionallyincludes means for sensing contaminants on the optical window.

In some embodiments, the optical assembly alternatively or additionallyincludes means for determining to move the optical body through thecleaning cycle.

In accordance with another aspect of the present disclosure, an opticalassembly is provided that is configured to self-clean an optical windowassociated with an optical device.

In accordance with another aspect of the present disclosure, an opticalassembly is provided. The optical assembly includes an optical bodyhaving an optical window, an optical device protected by the opticalbody, an optical body cleaning mechanism configured to clean an outersurface of the optical body, a fluid applicator positioned adjacent theoptical body cleaning mechanism and configured to apply a layer or filmof a non-stick liquid onto the optical body, and a driving mechanismconfigured to impart movement between the optical body and the both theoptical body cleaning mechanism and the fluid applicator through acleaning cycle comprised of a first stage, wherein the optical bodycleaning mechanism removes at least some of the contaminants that landedonto the layer of liquid along with at least a portion of the liquidlayer, and a second stage, wherein the fluid applicator applies a layerof liquid onto the optical window.

In some embodiments, the optical assembly alternatively or additionallyincludes a contamination sensor configured to sense contaminants presenton the optical window.

In some embodiments, the contamination sensor comprises at least oneemitter and at least one detector.

In some embodiments, the contamination sensor comprises a pair ofdetectors, each detector of the pair of detectors having a differentorientation than the other. In one embodiment, one detector is orientedbetween about 45 degree and 135 degrees with respect to the other. Inother embodiments, the angle is between 60 degrees and 120 degrees. Inyet other embodiments, the angle is between 75 degrees and 105 degrees.In still other embodiments, the angle is about 90 degrees.

In some embodiments, the driving mechanism is configured to impartmovement based on an output of the sensor.

In some embodiments, the optical assembly alternatively or additionallyincludes one or more controllers, at least one controller incommunication with the sensor and at least one controller incommunication with the driving mechanism, wherein at least one of theone or more controllers are configured to send control signals to thedriving mechanism responsive to signals received from the sensor.

In some embodiments, the at least one of the one or more controllers isconfigured to compare the output of at least one of the detectors whenat least one of the emitters is on against when the at least one emitteris off, and wherein the at least one controller of the one or morecontrollers is configured to signal the driving mechanism when thedifference from the said comparison is larger than a predeterminedthreshold, said threshold indicating that the optical window has anamount of contaminants in need of removal.

In some embodiments, the fluid applicator includes a fluid chamberconfigured to hold a predetermined amount of liquid.

In some embodiments, the predetermined amount of liquid is enough toprovide for a plurality of cleaning cycles.

In some embodiments, the optical body cleaning mechanism includes awiping element.

In some embodiments, the optical body cleaning mechanism is configuredto wipe or scrape against the outer surface of the optical body.

In some embodiments, the optical assembly alternatively or additionallyincludes a flexible bellows in fluid communication with the fluidchamber.

In some embodiments, the flexible bellows is connected in fluidcommunication with the fluid chamber via channels provided in an uppergland that surrounds the optical body.

In some embodiments, the optical assembly alternatively or additionallyincludes a fluid bladder connected in fluid communication with the fluidchamber.

In some embodiments, the flexible bellows compresses during the secondstage of the cleaning cycle.

In some embodiments, the optical body is a spherical body.

In some embodiments, the driving mechanism is configured to move theoptical body in one of a linearly reciprocating manner, a rotationallyreciprocating manner, and a continuously rotational manner.

In some embodiments, the optical body is an optical cylinder, andwherein the driving mechanism is configured to rotate the opticalcylinder about its longitudinal axis.

This summary is provided to introduce a selection of concepts in asimplified form that are further described below in the DetailedDescription. This summary is not intended to identify key features ofthe claimed subject matter, nor is it intended to be used as an aid indetermining the scope of the claimed subject matter.

DESCRIPTION OF THE DRAWINGS

The foregoing aspects and many of the attendant advantages of thedisclosed subject matter will become more readily appreciated as thesame become better understood by reference to the following detaileddescription, when taken in conjunction with the accompanying drawings,wherein:

FIG. 1 is a functional block diagram of one embodiment of an opticalassembly formed in accordance with an aspect of the present disclosure;

FIG. 2 is a perspective view of one representative embodiment of theoptical assembly depicted in block diagrammatic form in FIG. 1;

FIG. 3 is a cross section view of the optical assembly of FIG. 2, theoptical assembly in the first or home position;

FIG. 4 is a cross section view of the optical assembly of FIG. 2, theoptical assembly in the second or retracted position;

FIG. 5 is a schematic diagram of a liquid circuit formed in accordancewith an aspect of the present disclosure;

FIG. 6 is a partial perspective view of one embodiment of the interfacebetween the drive mechanism and the optical cylinder;

FIG. 7 is an enlarged partial cross-sectional view of the opticalcylinder;

FIG. 8 is a perspective view of the optical assembly of FIG. 1 without afluid cartridge;

FIG. 9 is a cross-sectional view of components of the optical assemblyof FIG. 1;

FIG. 10 is a cross-sectional view of one component of the fluidcartridge in accordance with an aspect of the present disclosure;

FIG. 11 is a perspective view of one representative embodiment of afluid cartridge in accordance with an aspect of the present disclosure;

FIG. 12 is a partial perspective view of components of the opticalassembly of FIG. 1;

FIG. 13 is a cross sectional view of the components of the opticalassembly taken along the line 13-13 of FIG. 12;

FIGS. 14A-B are schematic representations of one embodiment of adirt/debris sensor in accordance with an aspect of the presentdisclosure;

15A-B are schematic representations of another embodiment of adirt/debris sensor in accordance with an aspect of the presentdisclosure;

FIG. 16 is a perspective view of one representative embodiment of adirt/debris sensor in accordance with an aspect of the presentdisclosure;

FIG. 17 is a perspective view of another embodiment of an opticalassembly in accordance with an aspect of the present disclosure;

FIG. 18 is cross sectional view of another embodiment of an opticalassembly in accordance with an aspect of the present disclosure; and

FIG. 19 is a schematic diagram of a liquid circuit formed in accordancewith an aspect of the present disclosure;

FIG. 20 is a perspective view of another representative embodiment of anoptical assembly in accordance with an aspect of the present disclosure;

FIG. 21 is a cross-section view of the optical assembly of FIG. 20 inthe home position;

FIG. 22 is a cross-section view of the optical assembly of FIG. 20 inthe retracted position;

FIG. 23 is a schematic diagram of another fluid circuit formed inaccordance with an aspect of the present disclosure;

FIG. 24 is a perspective view of another embodiment of an opticalassembly in accordance with an aspect of the present disclosure.

FIG. 25 is a cross section view of the optical assembly of FIG. 24;

FIG. 26 is a perspective view of yet another embodiment of an opticalassembly in accordance with an aspect of the present disclosure.

FIG. 27 is a cross section view of the optical assembly of FIG. 26;

FIG. 28 is a perspective view of still another embodiment of an opticalassembly in accordance with an aspect of the present disclosure;

FIG. 29 is a top view of the optical assembly of FIG. 28;

FIG. 30 is a cross section view of the optical assembly of FIG. 29; and

FIG. 31 is an embodiment of an integrated fluid applicator and wiper inaccordance with aspects of the present disclosure.

DETAILED DESCRIPTION

The detailed description set forth below in connection with the appendeddrawings where like numerals reference like elements is intended as adescription of various embodiments of the disclosed subject matter andis not intended to represent the only embodiments. Each embodimentdescribed in this disclosure is provided merely as an example orillustration and should not be construed as preferred or advantageousover other embodiments. The illustrative examples provided herein arenot intended to be exhaustive or to limit the claimed subject matter tothe precise forms disclosed.

The following discussion provides examples of devices, systems and/orassemblies that protect one or more associated optical devices frommoisture, weather, and environmental conditions. In the examplesdescribed herein, the device, system and/or assembly includes techniquesand methodologies for providing a self-cleaning feature so that the oneor more optical devices can continually provide acceptable results(e.g., reception or transmission of optical signals, such as light,electromagnetic energy, etc.) in, for example, dirty environments. Aswill be described in more detail below, some examples of theself-cleaning feature includes a self-cleaning/wiping mechanismassociated with the one or more optical devices.

In the following description, numerous specific details are set forth inorder to provide a thorough understanding of exemplary embodiments ofthe present disclosure. It will be apparent to one skilled in the art,however, that many embodiments of the present disclosure may bepracticed without some or all of the specific details. In someinstances, well-known process steps have not been described in detail inorder not to unnecessarily obscure various aspects of the presentdisclosure. Further, it will be appreciated that embodiments of thepresent disclosure may employ any combination of features describedherein.

FIG. 1 is a functional block diagram of one example of a self-cleaningoptical assembly, generally designated 20, formed in accordance withaspects of the present disclosure. The assembly 20 comprises an opticalbody 24, a driving mechanism 30, an optical body cleaning mechanism 32,a fluid dispensing mechanism 36, sometimes referred to herein as a fluidapplicator, and one or more controllers 40. The optical body 24, such asa transparent plate, a cylinder, a spherical-like plate, or the like,protects at least one interiorly disposed optical device 26 from beingdamaged by the exterior environment in which it's deployed, and providesan optical window 28 through which light can pass in route to theoptical device. At first deployment, and during subsequent cleaningcycles, the fluid dispensing mechanism 36 applies a layer or film ofnon-stick liquid onto at least the optical window 28 of a clean opticalbody 24. After periodic use of the optical assembly, a cleaning cycle isinitiated by the one or more controllers 40. Once initiated, the opticalbody cleaning mechanism 32 is used to clean at least the optical window28, as the driving mechanism 30 moves the optical body 24 with respectto optical body cleaning mechanism 32 or vice versa. As will bedescribed in more detail below, the optical body cleaning mechanism 32quickly and easily removes the contaminants from the optical window 28of the optical body 24 as the non-stick film has impeded the adhesion ofthe contaminants to the exterior surface thereof. To complete thecleaning cycle under control of the one or more controllers 40, thefluid dispensing mechanism 36 again applies a layer or film of theliquid onto the newly cleaned optical window of the optical body 32 andthe optical body is returned to its first or home position.

The fluid dispensing mechanism 36, also referred to as a fluidapplicator, in the representative embodiments disclosed herein includean applicator body having a fluid chamber with any cross-sectionalshape. Optionally provided in the applicator body is at least one inletfor receiving the liquid from a local or remote source. For improvedresults, the fluid chamber of the applicator body should be entirelyfilled with the liquid, although acceptable results are achieved withless than a filled fluid chamber. In some embodiments, the applicatorbody also includes one or more outlets to facilitate recirculation,filtration or drainage of the liquid. In various embodiments, the shapeand the location of the outlet can be chosen such that small particles(if any) entering the fluid applicator over-time do not accumulate nearthe application side but instead exit through the outlet for optionalfiltration or accumulation away from the applicator.

As described above, the fluid chamber can have any shape. In someembodiments, the shape of the fluid chamber can be advantageouslyconfigured so that it discourages trapping of gasses to ensure acomplete fill. An example of such a configuration includes theintroduction of an angle in the interior upper surface of the fluidchamber to guide the gas bubbles to the inlet or the optional outlet andexteriorly of the applicator. In some embodiments, the angle ofinstallation of the optical assembly in service can be taken intoaccount when designing the shape of the fluid applicator so that anyspots within the fluid chamber that are close or in contact with theoptical body are not starved out of fluid.

The fluid applicator in the representative embodiments disclosed hereinalso includes an applicator element. In some embodiments, the applicatorelement is in the form of a dynamic rod seal. In other embodiments, theapplicator element is in the form of a face seal or the like. The faceor rod seals could be a type of an O-Ring, an internally lubricatedO-Ring, an O-ring energize U-cup or lip seal, a metal spring energizedU-cup or lip seal, or other commercially available types of sealingelements suitable for a dynamic face or rod seal configuration. Anexample of a dynamic rod seal are those sold by Parker Hannifin underthe Standard PolyPak family of seals. An example of U-cup face sealswith and without energizing elements are those sold by Parker Hannifinunder the FlexiSeal family of seals. Alternatively, instead of a faceseal, the fluid applicator could include a fluid permeable media such asa media with nano-tubes or a porous elastomer.

When assembled, the face seal is positively compressed between theoptical body and the applicator body. The amount of compression can becontrolled either by controlling the gap between the applicator and theoptical body by, for example, adjusting a screw or machining tolerances,or by controlling the compression force by, for example, adjusting thecompression of an associated spring.

The optical body cleaning mechanism 32 in the representative embodimentsdisclosed herein includes a wiper or wiping element that exhibits awiping or scrapping action for cleaning the optical window of theoptical body 24. In these embodiments, the wiper includes an edge whichis in complete contact with, and preferably positively compressedagainst, the optical body. The amount of wiper compression can becontrolled either by controlling the relative location of the wiper withrespect to the optical body or by the amount of force applied, forexample, via a spring or the like.

The wiper can have a straight, angular, or a curved shape as long as thewiping edge is in complete contact with the optical surface withsufficient compression to ensure that the fouling matter does not causetemporary disengagement of the wiping edge. The wiper can be shaped suchthat it guides the collected fouling matter away from the optical bodyas a result of the relative movement between the optical body and thewiper. For example, in the case of a rotating optical surface,introducing an angle to the wiper edge with respect to the radius of themovement can have the effect of driving the fouling matter to the outerperiphery of the optical surface. The length of the wiper it typicallysuch that its projection perpendicular to the direction of movement (fora rotating surface, the radial direction) is equal to or slightly largerthan the width of the surface effectively wetted by the fluidapplicator. Furthermore, in some embodiments, the path of the wipershould be centered with respect to the path of the fluid applicator.

In the following disclosure, a non-stick liquid can be defined as anyliquid which possesses the following characteristics:

-   -   It is not repelled by the optical surface such that in small        amounts it does not bead or readily drip under the force of        gravity;    -   Its presence on the optical surface allows a weakened bond or no        bond to form between the fouling matter and the optical surface;    -   It has a tendency to lower friction and mechanical wear such        that it reduces the likelihood of the fouling matter scratching        the optical surface during the wiping action;    -   It remains stable (in its state, viscosity and chemical        composition) throughout the expected field temperature range and        conditions;    -   It remains chemically stable in the presence of expected        contaminants such as water, grease and any other field specific        contaminants.

Examples of a non-stick liquid that can be practiced with severalembodiments disclosed herein include a range of hydraulic oils that aredesigned to demonstrate anti-wear properties, resist foaming, releaseair, maintain relatively stable viscosity within the field temperaturerange, are suitable for filtration, and demonstrate low volatility andhydrolytic stability. An example of such hydraulic oil would be “AllWeather Hydraulic 68” produced by Shell, Mobil, Chevron and other majormanufacturers. Some hydraulic oils feature an anti-staticelectricity/anti-magnetic characteristic which may further aid inreducing dust attraction. An example of such oil would be Omega 612 byOmega Corporation. Some oils that can be used have hydrophobiccharacteristics which may help with quick repelling of water drops. Anexample of such oil would be DOT5, which is a silicon-based hydraulicoil.

FIGS. 2 and 3 illustrate a perspective view and cross-sectional view,respectively, of one representative embodiment of a self-cleaningoptical assembly 120. As shown in FIG. 2, the optical assembly 120includes a housing 122 that protects the remaining components of theassembly. As shown in FIG. 3, some of the components disposed within thehousing 122 include an optical body 124, which is in the form of acylinder (“optical cylinder 124”) in this embodiment. In one embodiment,the optical cylinder 124 is an optical grade substrate. In someembodiments, the optical cylinder 124 is constructed out of a number ofdifferent materials, such as scratch resistant optically clearpolycarbonate, optical acrylic, and different types of glass. Othermaterials such as germanium could also be used to construct the opticalcylinder in the case the optical device is a thermal camera.

Disposed within or otherwise protected by the optical cylinder 124 is atleast one optical device 126. The optical device 126 can include but isnot limited to devices referred to in the art as electro-opticalsensors, photoelectric sensors, image sensors, light sensors, cameras,optical emitters, optical detectors, etc. In the embodiment shown inFIG. 3, which depicts the optical assembly in its home position oroptically operating state, the optical device 126 includes a cameramounted inside a holding unit 146. As shown in FIG. 3, the camera isdisposed longitudinally in the holding unit 146, which in turn, isinstalled longitudinally along the optical cylinder 124. The opticaldevice 126 has a line of sight in the radial direction of the opticalcylinder 124 via a 45 degree mirror 148 or other reflective medium,through a radial opening 150 in the holding unit 146 and a transparentwall portion of the optical cylinder 124, referred to as the opticalwindow 128. The meaning of the word “transparent” as used herein expandsbeyond the visible light spectrum and conveys transparency to anyparticular wavelength used by the optical device, whether or not thematerial is transparent to human vision. In use, the optical window 128is aligned with an opening 152 (FIG. 1) in the housing 122 when theoptical cylinder 124 is in its home position of FIG. 3. In someembodiments, heating elements are mounted above and below the radialopening 150. The heating elements are configured and arranged to helpeliminate condensation in front of the camera by heating the opticalcylinder.

In the embodiment of FIG. 3, the optical device 126 is shown as havingan optical axis parallel to a longitudinal axis of the housing 122,although other configuration are within the scope of the presentdisclosure. For example, in another embodiment, the optical device 126can be mounted radially (as opposed to axially), thereby eliminating theneed for the mirror 148. In the embodiment shown in FIGS. 2 and 3, theoptical device and associated mirror are stationarily mounted within theoptical cylinder. However, in some embodiments, the mirror can move in atilting motion while the optical assembly can rotate about the center ofthe optical cylinder. Alternatively, the mirror can both tilt androtate, while the rest of optical assembly remains stationary. In otherembodiments, the optical assembly can be used as a scanning device. Inthis embodiment, the mirror and a detector associated with the mirrorrotate about the center axis of the optical cylinder. In yet otherembodiments, either the optical assembly and/or the optical device canbe configured to rotate, if desired.

When assembled, the optical cylinder 124 is movable with respect to, andin one embodiment within, a portion of, a fluid cylinder 158 via thedriving mechanism 30. As shown in FIG. 3, the driving mechanism 30 inone embodiment is a linear actuator composed of, for example, a leadscrew 164 that is turned by an electric motor 166, such as a steppermotor. In one embodiment, a stepper motor with an integrated lead screwas the motor shaft is employed. In the embodiment shown, the motor 166is supported by a cap 168, which seals one end of the fluid cylinder 158with the aid of a suitable sealing means, such as an O-ring, heatbonding, chemical bonding, etc. The lead screw 164 extends inwardly intothe fluid cylinder 158 in a coaxial manner. An optional sensor 160 maybe provided to detect the end of the lead screw. In one embodiment, theoutput of the sensor 160 is used by at least one of the one or morecontrollers 40 as a positional reference when actuating the opticalcylinder 124.

Engaged with the lead screw 164 is a lead screw nut 170. The lead screwnut 170 is rotationally fixed to a piston 172, which is securely mountedto the end of the optical cylinder 124. In operation, rotation of thelead screw 164 in both clockwise and counterclockwise directions via theelectric motor 166 causes the lead screw nut 170, and in turn, theoptical cylinder 124 to reciprocate within the fluid cylinder 158between the positions shown, for example, in FIGS. 3 and 4. It will beappreciated that the electric motor 166 can be controlled via suitabledrive signals in order to move the optical cylinder 124 through onecomplete cycle (i.e., first or home position of FIG. 3, retractedposition of FIG. 4, first or home position of FIG. 3). While the drivingmechanism 30 in the embodiment shown imparts movement to the opticalcylinder, the driving mechanism 30 can be configured to impart movementto the fluid cylinder 158 instead.

In some embodiments, the lead screw nut 170 is connected to the piston172 via a flexible coupling 174, as shown in FIG. 6. In one embodiment,the flexible coupling 174 is formed by an elastomeric washer 176 or thelike positioned on both sides of the piston 172 and squeezed between thelead screw nut 170 and a plate 180. The amount of squeeze on theelastomer is controlled through the choice of the length of fasteners,for example, shoulder bolts, and the thickness of the elastomer.Accordingly, the flexible coupling 174 is configured to compensate forany angular misalignments or out-of-centeredness of the lead screw 164with respect to the piston 172.

While the linear actuator is shown in one representative embodiment as alead screw mechanism, other types of linear actuators may be practicedwith embodiments of the present disclosure. For example, the linearactuator can be of the rack and pinion type, a pneumatic or hydrauliccylinder, a pulley/cable arrangement, a linear motor, etc. Inembodiments where the optical cylinder is rotationally reciprocated, thedrive mechanism includes an electric motor and gear arrangement, alinear actuator and a linear to rotational reciprocating mechanism, suchas a scotch yoke, crank, etc., or any other currently known or futuredeveloped mechanism that can impart a rotationally reciprocatingmovement to the optical cylinder. Alternatively, the optical cylindercan be rotated directly or indirectly via the rotary output shaft of asuitable stepper or servo motor.

Returning to FIGS. 3 and 4, the piston 172 is configured to form aliquid tight seal against the inner wall of the fluid cylinder 158. Inone embodiment, the seal is created with a X-Ring (i.e., an O-ring witha cross section resembling an “X”). The X-ring is employed in someembodiments in order to reduce friction between the piston and the fluidcylinder as compared to some other seal types, although any other pistonseal can be utilized. As such, a first sealed fluid chamber 184 isformed within the walls of the fluid cylinder between the sealed end ofthe fluid cylinder 160 and the piston 172.

In the embodiment shown, the lead screw 164 and the lead screw nut 170are disposed within an optional impermeable bellows 186. The bellows 186at one end is sealed against the piston 172 and at the other end issealed against the cap 168. In these embodiments, the first fluidchamber 184 is formed between the walls of the fluid cylinder 158 andthe bellows 186.

A gland 188 is sealably mounted to the end of the fluid cylinder 158opposite the cap 168. The gland 188 surrounds the optical cylinder 124and allows the optical cylinder 124 to reciprocate therethrough. In theembodiment shown in FIG. 7, the gland 188 defines an inner bore 200through which the optical cylinder 124 reciprocally moves. In someembodiments, the inner bore 200 is configured such that an inner boresurface supports the outer surface of the optical cylinder 124 in aguiding manner as it moves therethrough. In other embodiments, the innerbore 200 is sized and configured such that the inner bore surface bearsagainst the outer surface of the optical cylinder 30 so as to form alinear bearing. When assembled, the optical cylinder 124, the fluidcylinder 158, the piston 172 and the gland 188 cooperate to define asecond fluid chamber 208, as shown in FIGS. 3 and 4. In particular, thesecond fluid chamber 208 is formed between the gland end of the fluidcylinder 158 and the piston 172, and between the outer surface of theoptical cylinder 124 and the inner surface of the fluid cylinder 158. Aswill be described in more detail below, the second fluid chamber forms apart of a fluid applicator or dispensing mechanism 36.

In the embodiment shown in FIG. 7, a stabilizing linkage 212 isprovided. One end of the stabilizing linkage 212 is anchored to thegland 188 while the opposite end is connected to an optical cylinder endcap 214. Accordingly, in these embodiments, the stabilizing linkage 212prevents rotation of the optical cylinder 124, which in turn, preventsrotation of the lead screw nut 170. It will be appreciated that othermechanisms or configurations of the optical cylinder/gland can beemployed to provide rotation prevention of the optical cylinder 124.

Referring now to FIGS. 3, 4, and 7, the gland 188 includes a primaryseal 216 configured and arranged to seal the second fluid chamber 208.In the embodiment shown, the sealing action occurs between the exteriorsurface of the optical cylinder 124 and the inner bore surface of thegland 188. In some embodiments, the primary seal is compressed betweenthe exterior surface of the optical cylinder 124 and the inner boresurface of the gland 188. As such, the primary seal 216 exerts pressureagainst the outer surface of the optical cylinder 124. In oneembodiment, the piston seal can be omitted such that the first andsecond fluid chambers 184 and 208 together form a single fluidreservoir.

In use, the second fluid chamber 208 stores a quantity of non-stickliquid. In some embodiments, the second fluid chamber 208 stores enoughliquid for a plurality (e.g., 2 or more, 5 or more, 10 or more, 20 ormore, 50 or more, etc.) of cleaning cycles. While the primary seal 216seals the second fluid chamber 208, the primary seal also helps to applyor maintain a thin (e.g., a few microns) layer of liquid on the opticalcylinder 124. Thus, when the optical cylinder 124 is reciprocally movedwith respect to the fluid cylinder 158, at least the optical window 128of the optical cylinder 124 comes into fluid contact with the liquiddisposed therein. When the optical window 128 is reciprocally moved inthe opposite direction so as to remove the optical window from fluidcontact within the second fluid chamber 208, the primary seal 200 aidsin the formation of a thin layer of non-stick liquid that remains on theoptical window 128 as the optical cylinder 124 returns to its homeposition. As such, at least the second fluid chamber 208 and the primaryseal 216 together form one embodiment of the fluid dispensing mechanism36. It will be appreciated that the size and/or compression of theprimary seal 216 can be used in controlling the thickness of the liquidlayer.

The gland 188 further includes a secondary seal 218 disposed between theexterior surface of the optical cylinder 124 and the inner bore surfaceof the gland 188. The secondary seal 208 is positioned closer to thefree end of the optical cylinder 124 than the primary seal 200 (e.g.,positioned exteriorly of the primary seal 216). The secondary seal 218is configured with a sharp edge and tapers at an acute angle inwardlytoward the outer surface of the optical cylinder 124 in someembodiments. The secondary seal 218 is further configured and arrangedsuch that its outermost edge is flush against and exerts a positivepressure against the outer surface of optical cylinder 124. As such, thesecondary seal 218 is configured to scrape or wipe away contaminantsrather than to seal fluids, and therefore, can also be referred toherein as a wiping element or wiper (“wiper 218”) or at least a part ofone embodiment of the optical body cleaning mechanism 32. In someembodiments, the wiper 218 is fabricated out of an elastomer having ahardness value similar to the primary seal 216. In other embodiments,the wiper 218 is fabricated out of an elastomer having a hardness valuegreater than the primary seal 216. In one embodiment, the wiper 218 hasa Shore A hardness in the range of about 85-95. It should also beappreciated that the material chosen for the wiper 218 should bechemically compatible with the non-stick liquid and vice versa.

In one embodiment, if the installation orientation of the deviceprevents fluid starvation of the primary seal, a non-sealing piston maybe used. A non-sealing piston can still utilize a flexible seal but alsoincludes channels to allow flow of fluid between the first and secondfluid chambers. Such a piston would still provide damping,self-centering characteristics and support but would reduce the amountof actuation force needed to move the optical cylinder.

In one embodiment, the primary seal 216 and secondary seal 218 areintegrally formed. In this example, the seal body includes two lips thatserve the functions of the primary seal and wiper described above.

As described above, the second fluid chamber 208 defines a fluidreservoir for dispensing a non-stick liquid onto the outer surface ofthe optical window of the optical cylinder 124. In one embodiment, thesecond fluid chamber 208 is a discrete, stand-alone fluid reservoir. Inother embodiments, the fluid reservoir can be replenished via either alocal fluid source, such as a fluid cartridge 236, or a remote fluidsource, via appropriately arranged fluid lines, passages, connectors,etc.

FIG. 10 illustrates one embodiment of an optional fluid cartridge 236that can be practiced with embodiments of the present disclosure forsupplying non-stick liquid to the fluid reservoir (e.g., the secondfluid chamber 208 or the combined space of first and second fluidchambers 184 and 208). As shown in the embodiment of FIGS. 10 and 11,the fluid cartridge 236 includes an enclosure 238 that houses a fluidreservoir formed by a sealed expandable bellows 240. In anotherembodiment, the fluid cartridge 236 includes a rigid liquid storage tankand a breather vent that functions to avoid pressure drop as the liquidis used up as well as to neutralize any pressure change due to volumedifferences between first and second chambers 184 and 208 during anextension and retraction cycle.

In either case, first and second press-to-connect fluid fittings 242 and244 are mounted to the fluid cartridge 236 and are configured tocooperate with corresponding fittings within the housing 122. The fluidcartridge 236 in some embodiments also includes an optional filter 260for filtering any non-stick liquid returned to the fluid cartridge, aswill be described in more detail below. In one embodiment, the fluidcartridge 236 and the housing 122 are cooperatively configured so thatthe fluid cartridge 236 is removably mounted in the housing 122, asshown in FIGS. 1-3. Accordingly, once the liquid in the fluid cartridgeis depleted, the fluid cartridge 236 can be replaced.

In one embodiment, the level of liquid inside the fluid cartridge 236 ismonitored so as to provide a fluid cartridge replacement notificationfunction to the optical assembly 20. For example, the level of liquid inthe fluid cartridge can be indirectly measured by an optical proximitysensor 264, as shown in FIG. 3. In use, the proximity sensor 264 isconfigured to measure the height of the bellows 240 and transmit suchmeasurement to the one or more controllers 40. When the one or morecontrollers 40 determines that the height of the bellows 240 is belowthe replacement threshold, the controller 240 outputs an alert to theuser, via an electric signal transmitted to a central monitoringstation, activating a visual indicator, such as an LED or the like,among others.

In order to gain access to the second fluid chamber 208, at least oneport 232 is provided. In the embodiment shown in FIG. 9, the at leastone port 232 includes two ports disposed in the gland 188. In thisembodiment, the gland 188 includes suitable connection interfaces thatare in fluid communication with the ports 232, as shown in FIG. 8. Theconnection interfaces provide a simple interface for connection withfluid conduits, piping, hose or the like, that form one or more fluidlines. The fluid lines can be connected to the on-board or local fluidsource, such as the fluid cartridge 236, and/or with a remotely locatedfluid source in a conventional manner.

FIG. 5 is a schematic diagram of a fluid circuit formed in accordancewith an aspect of the present disclosure. The fluid circuit can beemployed by embodiments of the optical assembly 20. As discussed brieflyabove, the second fluid chamber 208 in one embodiment is connected influid communication with a source 268 of non-stick liquid, via the ports232. Similarly, the first fluid chamber 184 in one embodiment isconnected in fluid communication with the liquid source 268. In thatregard, access to the first fluid chamber 184 is provided by a port 270(see also FIGS. 3 and 8). In the embodiment shown, the port 270 isdisposed in the cap 168. In this embodiment, a suitable fluid fittingcan be used to provide a simple interface for connection with fluidconduits, piping, hose or the like, that form one or more fluid lines.

As shown in FIG. 5, the first fluid chamber 184 is connected to thesource 268 of non-stick liquid via fluid line 284. The second fluidchamber 208 is connected in fluid communication to the liquid source 268through check valves 286 and 288 and fluid lines 290 and 292,respectively. In one embodiment, the fluid line 292 is connected influid communication with fluid line 284, and in turn, the liquid source268. In the embodiment shown, the check valve 286 is associated withfluid line 290 and is configured to allow fluid flow from the secondfluid chamber 208 to the liquid source 268 but prevents reverse fluidflow from the liquid source 268 to the second fluid chamber 208. Checkvalve 288 is configured to allow fluid flow via lines 284, 292 to thesecond fluid chamber 208 from the liquid source 268 but prevents fluidflow from the second fluid chamber 208 to the liquid source 268. In oneembodiment, an optional filter 260 is placed in-line with fluid line 290between the check valve 286 and the liquid source 268. The optionalfilter 246 can be used if needed, such as in situations where thecontamination particle size approaches the surface roughness of theoptical cylinder. In one embodiment where the liquid source 268 includesthe fluid cartridge, the filter 246 is incorporated therein.

One representative method for operating the optical assembly 20 during acleaning cycle will now be described with regards to FIGS. 2-10. As wasbriefly described above, the optical assembly operates in itsenvironment with the optical cylinder 124 in the extended state, asshown in FIG. 3. After a preselected time determined by, for example, atleast one of the one or more controllers 40, or by a signal indicativeof a dirty optical window, the optical cylinder 124 is actuated througha cleaning cycle under the control of the one or more controllers 40. Aswas briefly described above and described in more detail below, thecleaning cycle includes two stages, for example.

While the one or more controllers 40 are shown as being located“on-board” the optical assembly 20, it will be appreciated that at leastone of the one or more controllers 40 can be located “off-board” in aremote location. In one embodiment, an “on-board” controller isconfigured to receive control and other signals from an “off-board”controller. The one or more controllers 40 are connected in electricalcommunication with the driving mechanism 30 and one or more sensors,such as sensor 160, optical proximity sensor 264 and/or dirt/debrissensor 300. The one or more controllers 40 include logic for controllingthe movement of the optical cylinder 124. It will be appreciated by oneskilled in the art that the logic may be implemented in a variety ofconfigurations, including but not limited to, hardware, software, andcombinations thereof. In some embodiments, the controller 36 includes aprocessor and memory. The memory can be any volatile and nonvolatilestorage media in the form of read-only memory (ROM), random-accessmemory (RAM), and keep-alive memory (KAM), for example. Thecomputer-readable storage media may be implemented using any of a numberof known memory devices such as PROMs (programmable read-only memory),EPROMs (electrically PROM), EEPROMs (electrically erasable PROM), flashmemory, or any other electric, magnetic, optical, or combination memorydevices capable of storing data. The data includes executableinstructions, used by processor, in controlling the operation of atleast the driving mechanism 30.

As used herein, the term processor is not limited to integrated circuitsreferred to in the art as a computer, but broadly refers to amicrocontroller, a microcomputer, a microprocessor, a programmable logiccontroller, an application specific integrated circuit, otherprogrammable circuits, combinations of the above, among others. In oneembodiment, the processor executes instructions stored in memory toprovide suitable control signals to the driving mechanism, etc.

In one embodiment, the preselected time is chosen and programmed intothe one or more controllers 40 based on the “dry out” period of theliquid employed as the liquid. In this regard, the “dry out” perioddepends in part on the vapor pressure of the fluid, ambient temperature,as well as the severity of the convection that the exposed part of theoptical cylinder is subject to. Accordingly, the preselected time ischosen in one embodiment to be less than the time it takes for theliquid film on the optical cylinder to dry out or evaporate.

The first stage of the cleaning cycle includes movement of the opticalcylinder 124 in a first direction with respect to the fluid cylinder158. In that regard, the linear actuator, such as the lead screw 164, iscontrolled by suitable signals from the one or more controllers 40 inorder to retract the optical cylinder 124 from its first or homeposition shown in FIG. 3 to a retracted position shown in FIG. 4. As theoptical cylinder 124 retracts into the fluid cylinder 158, anycontaminants present on the optical cylinder 124 are pushed or wipeddownwardly relative to the optical cylinder 124 by the wiper 218 andremoved therefrom. In one embodiment, the contaminants fall away (due togravity) from the optical cylinder 124 through an open bottom of thehousing 22 when sufficient accumulation of the contaminants occurs. Assuch, the wiper 218 cleans the outside surface of the optical cylinder124, including the optical window 128. In some embodiments where theoptical cylinder is deployed at an acute angle with the ground, theoptical cylinder can further include a cap that seals its free end. Inthis and other embodiments, the cap is cone shaped so as to facilitateguiding of the liquid towards the ground.

As the wiper 218 cleans the outside surface of the moving opticalcylinder 124, the piston 172, which moves with the optical cylinder 124,forces any non-stick liquid present in the first fluid chamber 184 outthrough port 270 and back into the liquid source 268 via the fluid line284. Contemporaneously, non-stick liquid is drawn into the second fluidchamber 208 only through fluid line 292 due to the operation of thecheck valves 286 and 288. In particular, check valve 286 prevents liquidflow through the filter 260 and fluid line 290 while check valve 288allows fluid to flow in the direction from the fluid reservoir to thesecond fluid chamber 208. This results in fluid flow through the filter260 in only one direction. As such, the recirculation of any particlescontained by the filter is prevented. As the fluid fills the secondfluid chamber 208, the exterior of the optical cylinder 124 is immersedin the non-stick liquid.

The second stage includes movement of the optical cylinder 124 in asecond direction opposite the first direction to return the opticalcylinder 124 to its first or home position. In that regard, the linearactuator, such as the lead screw 164, is controlled by suitable signalstransmitted from the one or more controllers 40 in order to extend theoptical cylinder 124 from the second or retracted position shown in FIG.4 to the first or home position shown in FIG. 3. During this stage, asthe optical cylinder 124 extends from the fluid cylinder 158, a freshlayer of non-stick liquid adheres to and coats the exterior of theoptical cylinder, including the optical window 128. The thickness of thefluid layer depends on a variety of factors such as the surfaceroughness of the optical cylinder, roughness of the primary seal, thehardness of the primary seal, the amount of squeeze applied on theprimary seal and the relative speed of movement of the optical cylinder,among other factors.

Extension of the optical cylinder 124 also causes the first fluidchamber 184 to fill with fluid from the liquid source, such as the fluidcartridge 236, through line 284 and port 270. Liquid fills the firstfluid chamber 184 as the pressure drops in the first fluid chamber 184due to the suction action of the piston 172. Simultaneously, the fluidin the second fluid chamber 208 is pushed out through the ports 232,through lines 290 and 292 to check valves 286 and 288. Only check valve286 allows the fluid to pass, which then continues to flow through theoption filter 260 and into the liquid source, such as the fluidcartridge 236. On the other hand, check valve 288 blocks further flow offluid through fluid line 292.

As briefly described above, the cleaning cycle can be initiated eitherby a preselected elapse of time, a signal indicative of a dirty opticalwindow, etc. There are various ways of sensing the desirability for acleaning cycle. For example, if the optical device is a camera, thecamera image itself could be used to detect smudge/dirt or to detectrain drops affecting the image. In other embodiments, the signal isgenerated by a dirt/debris detection sensor.

FIGS. 12-13 illustrate one embodiment of a dirt/debris detection sensor300 that can be practiced with embodiments of the present disclosure. Asshown in FIG. 12, the sensor 300 measures and/or detects the state ofclarity of the optical cylinder. In the embodiment shown in FIG. 12, thesensor 300 includes an emitter 304 and a detector 308. In oneembodiment, the sensor 300 includes a single frequency emitter such as alaser and a narrow bandwidth detector suitable for detecting thewavelength produced by the emitter. In one embodiment, the emitter 304and the detector 308 can be mounted in the holding unit 146, as shown inFIG. 13. It will be appreciated that the closer the emitter and thedetector are to the opening 150, the more relevant the sensing will beto the cleanliness of the view of the optical device.

FIG. 13 shows a cross section of the optical cylinder where the emitter304 and the detector 308 are installed. As shown in schematicrepresentations in FIGS. 14A and 14B, the angle of the emitter 304 isless than the critical refraction angle of the optical cylinder 124 suchthat the ray of light 310 after refracting in the optical cylinder exitsto the environment without refracting back in. Additionally, the emitter304 is positioned such that the exit point 314 of the ray of light 310on the exterior of the optical cylinder 124 is positioned right in frontof the detector 308. In an effort to maximize capture of the reflectedlight, the detector 308 in another embodiment can be placed such that itcreates the same angle with respect to the radius of the circle as theemitter 304, as shown in FIGS. 15A-15B. When the optical cylinder 124 isclean, the ray of light 310 exits to the environment without affectingthe detector 308, as shown in FIG. 14. However, in the presence of anobstruction 318, such as a contaminant, the ray of light 310 reflectsback in various directions at the point of the incident, as shown inFIG. 15.

In some embodiments, in order to distinguish whether the detected lightat the detector 308 is coming from the sun or from the emitter 304, theemitter 304 is periodically pulsed several times a second by the one ormore of the controllers 40. In one embodiment, the one or morecontrollers 40 compare the output of the detector 308 when the emitter304 is on against the times that the emitter 304 is off. If thedifference is consistently larger than a certain threshold, suchdifference indicates that the optical cylinder is blocked by an object.This analysis in one embodiment is done on-board by at least one of theone or more controllers 40. The results can also be communicated to aremote system.

In some embodiments, it has been observed that when the detector isdirectly facing the sunlight, the sensor can become saturated. Toaddress any possible saturation, any combination of the followingsolutions can be implemented.

Firstly, filtering and attenuating the incoming light to the sensor(within the bandwidth of the sensor) can be implemented to generate asufficient margin before saturating the detector. Doing so would alsoattenuate the light emitted by the emitter. Consequently, the power ofthe emitter can be adjusted accordingly to generate an adequate changein the detection value upon its operation.

Secondly, the wavelength of the emitter and the detector can be chosento fall within the atmospheric absorption bands where the intensity ofthe wavelength of choice has been significantly attenuated due toatmospheric elements. In this case, saturation of the detector is lessof a concern.

Thirdly, another embodiment of a sensor 300′ can be employed, having apair of emitters and a pair of detectors, as shown in FIG. 16. As shownin FIG. 16, the detectors 308 can be arranged such that theirorientation is such that when one detector is facing the sun, the otherdetector would be looking away from the sun. Such a design preventssimultaneous saturation of all detectors. In this case, the output ofall sensors are read and analyzed by the one or more controllers 40. Inthis embodiment, the output of the detector which is determined to besaturated will be omitted.

In the embodiment shown, the detectors 308 are each shown as arectangular transducer, both of which are pointing at very differentangles than each other ensuring that they do not saturate simultaneouslydue to the same light source. The curved surface of the sensor facesexteriorly and matches in some embodiments with the curvature of theinside of the optical body. Placement of the sensor 300′ in completecontact with the optical body minimizes the amount of light leaking fromthe emitters 304 to the detectors 308. In some embodiments, the emitters304 transmit at about a 940 nm wavelength.

The techniques and methodologies described above can be employed invarious devices, systems, and assemblies. Additionally, the techniquesand methodologies described above can be employed in otherconfigurations of the optical assembly. For example, in someapplications, having a pair of optical devices is beneficial oradvantageous. An example of such application is a stereo camera whichenables calculation of depth information in addition to the camera view.This example can be implemented in many different configurations. Forexample, an optical assembly according to another embodiment integratestwo optical devices into one longer optical cylinder. In thisembodiment, one of the optical devices is positioned at each end of thecylinder and a piston is attached to the middle of the optical cylinder.Other configurations are possible, as will be described in more detailbelow.

One embodiment of an optical assembly is formed generally by placing theworking components of two optical assemblies 20 back-to-back. In thisembodiment, two separate optical cylinders, each attached to a liquidtight piston are employed. In this embodiment, each optical cylindershares the same fluid cylinder. In operation, the wiping action to cleanthe optical cylinders would involve extension and retraction of eachindividual optical cylinder. In the fully retracted mode the two pistonsare closest to each other while in the extension configuration the twopistons are the farthest from each other.

This configuration could be useful when merely two optical devices aredesired to be packaged into one device. However, in some applications,it is preferred that the optical devices, such as stereo cameras, arefixed with respect to each other in order to keep their calibration.Even slight positional variations between the cameras from one cycle tothe other could be detrimental to the performance of the stereo camerapair.

FIG. 17 illustrates another embodiment of an optical assembly 420 formedin accordance with an aspect of the present disclosure where the opticaldevices are fixed with respect to one another. The optical assembly 420is substantially similar in construction and operation as the opticalassembly 20 described above except for the differences that will beexplain in more detail below. As shown in FIGS. 17 and 18, the opticalassembly 420 includes two optical cylinders that are joined by a piston172 at the middle and are enclosed in the same fluid cylinder 158. Assuch, relative movement of the two joined optical cylinders with respectto the fluid cylinder creates the wiping action.

In the embodiment shown in FIGS. 17 and 18, two support arms 440 and 442are attached to the piston 172 at the center, while the other ends ofthe support arms are attached to the end caps 214. The connectionsbetween the support arms, the piston and the end caps are rigid. On eachside, an optical cylinder 124 is axially sandwiched between the end cap214 and the piston 172. At each end of the optical cylinder a flexiblegasket creates the interface between the optical cylinder and the endcaps. The amount of squeeze in the gasket can be adjusted thoughchoosing the length of the support arm, the length of the opticalcylinder, and the thickness of the gasket. Furthermore, the opticalcylinder is radially constrained by the O-Ring seals at each end. TheO-ring seals also create a liquid tight seal at each end of the opticalcylinder.

The optical devices 126 are mounted directly onto the support arms 440and 442. Such an arrangement ensures rigid positioning of the twooptical devices with respect to each other. Additionally, since theoptical cylinders 124 are supported by all non-rigid connections, theyare isolated from any bending loads caused by the dynamic forces inservice. The aforementioned loads are transferred through the rigidconnections of the support arms.

The cleaning cycle for this embodiment involves the relative movement ofthe optical cylinder assembly with respect to the fluid cylinder 158.During such movement the liquid tight piston 172 causes fluid flow inand out of the respective ports. This flow can be used in very much thesame way as explained in the fluid circuit of FIG. 5. However, twoadditional check valves can be used in this embodiment, and arrangementas shown in fluid circuit 500 of FIG. 19.

FIG. 20 illustrates another embodiment of an optical assembly 520 formedin accordance with an aspect of the present disclosure. The opticalassembly 520 is substantially similar in construction and operation asthe optical assembly 120 described above except for the differences thatwill be explain in more detail below. As shown in FIGS. 20-22, theoptical assembly 520 includes a driving mechanism 530 in the form ofdual lead screws that provide reciprocating motion to an opticalcylinder 524 with respect to an outer fluid cylinder 558.

Disposed within or otherwise protected by the optical cylinder 524 is atleast one optical device 126. The optical device 126 has a line of sightin the radial direction of the optical cylinder 524 via a 45 degreemirror 148 or other reflective medium, through an optical window 128. Inuse, the optical window 128 can be aligned with an opening of anoptional housing (not shown) when the optical cylinder 524 is in itshome position of FIGS. 20 and 21.

As shown in FIG. 21, a first optical cylinder end cap 568 seals one endof the optical cylinder 524 with the aid of a suitable sealing means,such as an O-ring, heat bonding, chemical bonding, etc. A second,tapered end optical cylinder end cap seals the other end of the opticalcylinder 524 with the aid of a suitable sealing means, such as anO-ring, heat bonding, chemical bonding, etc. In some embodiments, thefirst and second end caps are fixed to a support arm assembly. In someof these embodiments, flexible gaskets sandwiched between the end capsand the optical cylinder can provide damping and thermal strain relief,if desired. The lead screws 564 extend inwardly into the opticalcylinder 524 on the sides thereof. Optional sensors (not shown) may beprovided to detect the ends of the lead screws. In one embodiment, theoutput of the sensors is used by at least one of the one or morecontrollers 40 as a positional reference when actuating the opticalcylinder 524. Alternatively, full retraction of the lead screws can besensed by optional sensors fixed to the motor mounting plate. Engagedwith the lead screws 564 are lead screw nuts 570. The lead screw nuts570 are rotationally fixed to a mounting bracket 572, which is attachedto the optical cylinder end cap 568 via a flexible coupling.

In operation, rotation of the lead screws 564 in both clockwise andcounterclockwise directions via electric motors 566 causes the leadscrew nuts 570, and in turn, the optical cylinder 524 to reciprocatewithin the fluid cylinder 558 between the positions shown, for example,in FIGS. 21 and 22. Similar to the optical assembly 120, it will beappreciated that the electric motors 566 can be controlled via suitabledrive signals in order to move the optical cylinder 524 through onecomplete cycle (i.e., first or home position of FIG. 21, retracted orcleaning position of FIG. 22, first or home position of FIG. 21). Whilethe driving mechanism 530 in the embodiment shown imparts movement tothe optical cylinder 524, the driving mechanism 530 can be configured toimpart movement to the fluid cylinder 558 instead.

Referring again to FIGS. 20-22, at least a portion of the opticalcylinder 524 reciprocates within the fluid cylinder 558. As shown inFIGS. 20-22, upper and lower glands 588 and 590 are sealably mounted tothe ends of the fluid cylinder 558. Each gland 588 and 590 surrounds theoptical cylinder 524 and allows the optical cylinder 524 to reciprocatetherethrough. In the embodiment shown in FIGS. 21 and 22, the glands 588and 590 define inner bores through which the optical cylinder 524reciprocally moves in a guiding manner. When assembled, the opticalcylinder 524, the fluid cylinder 558, and the glands 588, 590 cooperateto define a fluid chamber 608. In particular, the fluid chamber 608 isformed between the outer surface of the optical cylinder 524 and theinner surface of the fluid cylinder 558. In some embodiments, the lowergland 590 includes an inlet (not shown in FIGS. 21-22) for accessing thefluid chamber 608.

Still referring to FIGS. 21-22, the upper and lower glands 588 and 590each include a primary seal 216 configured and arranged to seal thefluid chamber 608. In the embodiment shown, the sealing action occursbetween the exterior surface of the optical cylinder 524 and the innerbore surface of the glands 588, 590. In some embodiments, the primaryseal 216 is compressed between the exterior surface of the opticalcylinder 524 and the inner bore surface of the glands 588, 590. It willbe appreciated that the primary seals 216 can have differentconfigurations. For example, the lower primary seal may be configuredfor its fluid film application properties while the upper primary sealmay be configured for its low friction in reciprocating motion.

In use, the fluid chamber 608 stores a quantity of non-stick liquid.While the lower primary seal 216 seals the fluid chamber 608, the lowerprimary seal 216 also aids in the application or maintenance of a layerof fluid covering at least the optical window 528. Thus, when theoptical cylinder 524 is reciprocally moved with respect to the fluidcylinder 558, at least the optical window of the optical cylinder 524comes into fluid contact with the liquid disposed therein. When theoptical window is reciprocally moved in the opposite direction so as toremove the optical window from fluid contact within the fluid chamber608, the lower primary seal 216 aids in the formation of a thin layer ofnon-stick liquid that remains on the optical window as the opticalcylinder 524 returns to its home position of FIGS. 20 and 21. As such,at least the fluid chamber 608 and the lower primary seal 216 togetherform an embodiment of the fluid dispensing mechanism 36.

Still referring to FIGS. 21-22, the lower gland 590 further includes asecondary seal 218 disposed between the exterior surface of the opticalcylinder 524 and the inner bore surface of the gland 590. The secondaryseal 218 is positioned closer to the free end of the optical cylinder524 than the primary seal 216. The secondary seal 218 is againconfigured with a sharp edge and tapers at an acute angle inwardlytoward the optical cylinder 524 in some embodiments. The secondary seal218 is further configured and arranged such that its outermost edge isflush against and exerts a positive pressure against the opticalcylinder 524. As such, the secondary seal 218 is configured to scrapeand/or wipe away contaminants rather than to seal fluids, and therefore,can also be referred to herein as a wiping element or wiper (“wiper218”). The wiper 218 also forms an embodiment of the optical bodycleaning mechanism 32.

In the embodiment shown, the fluid chamber 608 can be connected to aninternal cavity 610 formed by an optional impermeable bellows 612. Inthe embodiment shown, the bellows 612 at one end is sealed against uppergland 588 and at the other end is sealed against the cap 568. Thisarrangement allows for extension and compression of the bellows 512 uponmovement of the optical cylinder 524 with respect to the fluid chamber608 and vice versa. In this embodiment, the upper gland 588 is formedwith multiple channels 614, which are configured to allow fluid to flowbetween the internal cavity 610 of the bellows 612 and the fluid chamber608. Of course, channels 614 are omitted in embodiments without thebellows 612. The bottom gland 590 in this and other embodiments isconnected to a fluid bladder 656 via an inlet 662, as shown in the fluidcircuit of FIG. 23. The fluid bladder 656, or other fluid reservoir,stores excess fluid, and if desired, is connected to the inlet 662through an optional filter medium as well as one or more directionalvalves (e.g., umbrella valves, check valves, etc.).

In operation, as the optical cylinder translates from the position ofFIG. 21 to the position of FIG. 22, the bellows 612 expands causing thepressure to decrease within the internal cavity 610 and fluid chamber608 and the liquid to be drawn into the fluid chamber 608 from the fluidbladder 656. As the optical cylinder 524 translates from the position ofFIG. 22 to the position of FIG. 21, the bellows 612 compresses causingthe pressure to increase in the internal cavity 610 and fluid chamber608 and the fluid to be pumped from the fluid chamber 608 into thebladder 656 through the optional filter via the inlet 662. It will beappreciated that the addition of the bellows 612 and the fluid bladder656 demands less actuation force than embodiments with a liquid tightpiston, enabling faster cleaning cycles in a smaller or similar package.

It should be appreciated that this design provides flow of fluid aroundthe primary seal 216, which provides two distinct benefits: (1) itprevents fluid starvation of the primary seal even when the device isused in odd orientations; (2) it agitates any contamination which mayhave precipitated on the primary seal. This ensures that during theaction of filtering, the contaminants are floating and are pumpedthrough the filtering medium.

In some embodiments, it may be desirable to decouple the amount ofstroke for cleaning the optical window with the stroke used for pumpingthe liquid. In these embodiments, the connection of the bellows to theoptical cylinder end cap can be eliminated. The bellows can instead becomplemented with another smaller-diameter internal bellows. In thisembodiment, the two bellows would be sealed at the top, while at thebottom they would be connected to the top primary seal gland, with thefluid channels lying in-between them. An internal compression spring canerect the two connected bellows. Upon extension, the optical cylinderend cap pushes and compresses this collapsible tank pumping the liquidout, while during retraction the internal compression spring willre-erect the two bellows, thereby drawing the liquid back in. In thisembodiment, the stroke for pumping can be smaller than the cleaningaction stroke.

As described above, in some applications, having a pair of opticaldevices is beneficial or advantageous. An example of such application isa stereo camera which enables calculation of depth information inaddition to the camera view. This example can be implemented in manydifferent configurations. For example, an optical assembly according toanother embodiment integrates two optical devices, such as opticalassemblies 520, into one longer optical cylinder. In another embodiment,the two bellows can be replaced with a shared or two connected bellows.In this embodiment, the fluid ports can be chosen to be in the bellow(s)or embedded in either of the glands.

FIGS. 24 and 25 illustrate another embodiment of an optical assembly 720formed in accordance with an aspect of the present disclosure. FIG. 24is a perspective view of the optical assembly 720. FIG. 25 is a crosssection view of the optical assembly 720 of FIG. 24. As shown in FIGS.24 and 25, the optical assembly 720 includes an optical body 724, afluid applicator 736, and an optical body cleaning mechanism 732. In theembodiment shown, the optical body 724 is formed as an optical cylinderthat houses one or more optical devices 126 therein. In this embodiment,the optical cylinder 724 is rotated by a suitably configured andarranged drive mechanism (not shown) about a central axis A so that theoptical window is moved with respect to both the fluid applicator 736and an optical body cleaning mechanism 732. Rotation in some embodimentscan be in only a single direction, while rotation in other embodimentsincludes reciprocating rotation or angular oscillation.

The fluid applicator 736 in this embodiment includes an open endedhousing 738. The housing 738 includes a fluid chamber 740 in fluidcommunication with an opening defined by the housing 738. The open endof the housing 738 is configured to be flush against the optical body724 and includes a groove disposed around the perimeter of the opening.The groove is configured to receive the primary seal 216. An optionalinlet 742 is provided in the housing 738 for accessing the fluid chamber740.

The optical body cleaning mechanism 732 is again formed as a wiper,which is configured with a sharp edge and tapers at an acute angleinwardly toward the outer surface of the optical cylinder 724. The wiperis further configured and arranged such that its outermost edge is flushagainst and exerts a positive pressure against the outer surface ofoptical cylinder 724. In some embodiments, the wiper is fabricated outof an elastomer having a hardness value similar to the primary seal 216.In other embodiments, the wiper is fabricated out of an elastomer havinga hardness value greater than the primary seal 216. In one embodiment,the wiper has a Shore A hardness in the range of about 85-95.

In the embodiment shown in FIGS. 24-25, the wiper does not enclose thefluid applicator, and as such, it is possible for contaminants to enterthe space between the wiper and the fluid applicator, bypassing thewiper and coming into contact with the fluid applicator. To prevent sucha scenario, the space between the wiper and the fluid applicator may beoptionally enclosed, and completely sealed in some embodiments. In thatregard, the optical assembly 720 includes an optional enclosure 744. Inthe embodiment shown, the wiper is mounted to the enclosure 744, whichis configured to also act as a scraper of foreign material.

In some embodiments, partial or fully circular seal plates 746 areprovided between the enclosure 744 and the optical body 724. In thatregard, first and second seal plates 746 are disposed on each side ofthe wiper. In some embodiments, the first and second seal plates 746 arefixed to the optical body 724. In these embodiments, fixation can beaccomplished through adhesives, one or more O-rings, etc. The interfacebetween the seal plates 746 and the enclosure 744 can be that of betweentwo rigid materials similar to the one found in a bushing. In someembodiments, the material of the enclosure as well as the seal platescan be chosen to result in a low friction interface.

In other embodiments, the first and second seal plates 746 are fixed tothe enclosure 744. In these embodiments, the interface between the sealplates 746 and the optical cylinder 724 behave similar to a rotary seal.In that regard, suitable seals used for rotary dynamic sealing, such asshaft oil seals and bearing isolators, can be employed. Some examples ofsuch seals are “FlexiCase™ CEE”, “FlexiSeal FF”, and “FlexiLip Rotary”by Parker Hannifin Corp. In yet other embodiments, each seal plate canconsist of two interleaving plates, namely outer and inner seal plates.In these embodiments, the outer plate is fixed to the enclosure 744 andthe inner plate fixed to the optical body 724. It will be appreciatedthat other labyrinth-style seal geometries such as those used as bearingisolators would also be effective in these embodiments. Examples thatmay be practiced with embodiments of the present disclosure are offeredby Parker family of ProTech™ bearing isolators.

FIGS. 26 and 27 illustrate another embodiment of an optical assembly 820formed in accordance with an aspect of the present disclosure. FIG. 26is a perspective view of the optical assembly 820. FIG. 27 is a crosssection view of the optical assembly 820 of FIG. 26. The opticalassembly 820 is substantially identical to the optical assembly 720 inconstruction and operation except for the differences that will now bedescribed. As shown in FIGS. 26 and 27, the optical assembly 820includes an optical body 824, a fluid applicator 836, and an opticalbody cleaning mechanism 832. In the embodiment shown, the optical body824 is formed as an optical plate having a planar optical surface. Theoptical body protects one or more optical devices 126. In thisembodiment, the optical plate is linearly reciprocated by a suitablyconfigured and arranged drive mechanism (not shown) so that the opticalwindow 828 is moved with respect to both the fluid applicator 836 and anoptical body cleaning mechanism 832.

The fluid applicator 836 in this embodiment also includes an open endedhousing 838. The housing 838 includes a fluid chamber 840 in fluidcommunication with an opening defined by the housing 838. The open endof the housing is configured to be flush against the optical body 824and includes a groove disposed around the perimeter of the opening thatis configured to receive the primary seal 216. An optional inlet 842 isprovided in the housing 838 for accessing the fluid chamber 840.

The optical body cleaning mechanism 832 is again formed as a wiper orscraper, which is configured with a sharp edge and tapers at an acuteangle inwardly toward the outer surface of the optical cylinder 824.Again, the wiper is further configured and arranged such that itsoutermost edge is flush against and exerts a positive pressure againstthe outer surface of optical cylinder 824.

The optical assembly 820 also includes an optional enclosure 844. In theembodiment shown, the wiper is mounted to the enclosure 844. In someembodiments, parallely extending seal plates 846 are provided on eachside of the wiper between the enclosure 844 and the optical body 824. Atthe end of each seal plate 844 there is provided a lip-type seal forinterfacing with the optical body 824. It will be appreciated thatlabyrinth-style seal geometries would also be effective in theseembodiments.

FIGS. 28-30 illustrate another embodiment of an optical assembly 920formed in accordance with an aspect of the present disclosure. FIG. 28is a perspective view of the optical assembly 920. FIG. 29 is a top viewof the optical assembly of FIG. 28. FIG. 30 is a cross section view ofthe optical assembly 920 of FIG. 29. The optical assembly 920 issubstantially identical to the optical assemblies 720 and 820 inconstruction and operation except for the differences that will now bedescribed. As shown in FIGS. 28-30, the optical assembly 820 includes anoptical body 924, a fluid applicator 936, and an optical body cleaningmechanism 932. In the embodiment shown, the optical body 924 is formedas an optical disc plate having a planar optical surface. The opticalbody shields or protects one or more optical devices 126. In thisembodiment, the optical disc plate is rotated about an axis A by asuitably configured and arranged drive mechanism (not shown) so that theoptical window 928 is moved with respect to both the fluid applicator936 and an optical body cleaning mechanism 932. Rotation in someembodiments can be in only a single direction, while rotation in otherembodiments includes reciprocating rotation or angular oscillation.

The fluid applicator 936 in this embodiment also includes an open endedhousing 938. The housing 938 includes a fluid chamber 940 in fluidcommunication with an opening defined by the housing 938. The open endof the housing 938 is configured to be flush against the optical body924 and includes a groove disposed around the perimeter of the openingthat is configured to receive the primary seal 216. An optional inlet942 is provided in the housing 938 for accessing the fluid chamber 940.

The optical body cleaning mechanism 932 is again formed as a wiper orscraper, which is configured with a sharp edge and tapers at an acuteangle inwardly toward the outer surface of the optical body 924. Again,the wiper is further configured and arranged such that its outermostedge is flush against and exerts a positive pressure against the outersurface of optical body 924.

In some embodiments, the optical assembly 920 also includes an optionalenclosure 944. In the embodiment shown, the wiper is mounted to theenclosure 944. In some embodiments, the enclosure 944 forms a sealinginterface with the optical body 924 via a lip-type seal or the like. Inother embodiments, an integrated fluid applicator and wiper (See FIG.31) can be employed. The integrated fluid applicator and wiper of FIG.31 can also be employed in other embodiments of the optical assemblydescribed above.

It should be noted that for purposes of this disclosure, terminologysuch as “upper,” “lower,” “vertical,” “horizontal,” “fore,” “aft,”“inner,” “outer,” “front,” “rear,” etc., should be construed asdescriptive and not limiting the scope of the claimed subject matter.Further, the use of “including,” “comprising,” or “having” andvariations thereof herein is meant to encompass the items listedthereafter and equivalents thereof as well as additional items. Unlesslimited otherwise, the terms “connected,” “coupled,” and “mounted” andvariations thereof herein are used broadly and encompass direct andindirect connections, couplings, and mountings.

The principles, representative embodiments, and modes of operation ofthe present disclosure have been described in the foregoing description.However, aspects of the present disclosure which are intended to beprotected are not to be construed as limited to the particularembodiments disclosed. Further, the embodiments described herein are tobe regarded as illustrative rather than restrictive. It will beappreciated that variations and changes may be made by others, andequivalents employed, without departing from the spirit of the presentdisclosure. Accordingly, it is expressly intended that all suchvariations, changes, and equivalents fall within the spirit and scope ofthe present disclosure, as claimed.

What is claimed is:
 1. A cleaning apparatus comprising: an opticaldevice; an optical body comprising an optical window covering theoptical device, a line of sight of the optical device being through theoptical window; a fluid applicator configured to apply a liquid film tocover at least the optical window; a wiper positioned stationaryrelative to the fluid applicator; and an actuator configured to, inresponse to at least one control signal provided by one or morecontrollers: cause relative movement between the optical body and thewiper to initiate a first stage of a cleaning cycle during which theoptical window is cleaned by the wiper; and cause relative movementbetween the optical body and the fluid applicator to initiate a secondstage of the cleaning cycle during which the liquid film is applied bythe fluid applicator to cover the optical window, the liquid filmremaining on the optical window and permitting optical operation of theoptical device while impeding adhesion of contaminants to a surface ofthe optical window underlying the liquid film.
 2. The apparatus of claim1 wherein the fluid applicator comprises a fluid chamber configured tohold a quantity of liquid for applying the liquid film, and wherein thefluid applicator comprises a seal between the fluid chamber and theoptical body, the seal configured to apply the liquid film from thefluid chamber to the optical window during the relative movement betweenthe fluid applicator and the optical body.
 3. The apparatus of claim 2wherein the seal is configured to control a thickness of the liquid filmapplied to the optical window during the relative movement between thefluid applicator and the optical body.
 4. The apparatus of claim 2wherein the wiper is disposed adjacent to the seal and configured toguide contaminants away from the optical window and the seal during thefirst stage of the cleaning cycle.
 5. The apparatus of claim 4 whereinthe wiper and the seal are integrally formed.
 6. The apparatus of claim1 wherein the wiper is sized and disposed to clean a portion of theoptical window corresponding to a width over which the liquid film isapplied by the fluid applicator during the second stage of the cleaningcycle.
 7. The apparatus of claim 1 wherein the fluid applicatorcomprises a fluid chamber configured to hold a quantity of liquid forapplying the liquid film.
 8. The apparatus of claim 7 further comprisinga liquid storage source configured to store liquid for applying theliquid film, and wherein the liquid storage source is in liquidcommunication with the fluid chamber for replenishing the quantity ofliquid in the fluid chamber.
 9. The cleaning apparatus of claim 8further comprising means for pumping the fluid between the liquidstorage source and a fluid reservoir.
 10. The apparatus of claim 9wherein the means for pumping comprises the relative movement producedby the actuator.
 11. The apparatus of claim 8 wherein the liquid storagesource is in liquid communication with the fluid chamber via a filter,the filter being configured to remove contaminants from the liquid. 12.The apparatus of claim 1 wherein the optical body comprises one of: anoptical cylinder; an optical plate; a planar optical surface; or aspherical body.
 13. The apparatus of claim 1 wherein the actuator isconfigured to cause one of: linear reciprocating relative movementbetween the optical body and the fluid applicator; a reciprocallyrotating relative movement between the optical body and the fluidapplicator; a rotating relative movement between the optical body andthe fluid applicator in a single direction; or a continuously rotatingrelative movement between the optical body and the fluid applicator in asingle direction.
 14. The apparatus of claim 1 further comprising asensor configured to detect the presence of contaminants on the opticalwindow.
 15. The apparatus of claim 1 wherein the liquid is selected tocause the liquid film to weaken a bond between contaminants and theoptical window to facilitate removal of the contaminants during thefirst stage of the cleaning cycle.
 16. The apparatus of claim 1, furthercomprising an enclosure enclosing the surface of the optical window whenthe optical window is positioned between the wiper and the fluidapplicator during the first stage of the cleaning cycle.
 17. Theapparatus of claim 16, wherein the remaining portion of a surface of theoptical body is not enclosed by the enclosure during the first stage ofthe cleaning cycle.
 18. The apparatus of claim 16, wherein the wiper ismounted to the enclosure.
 19. The apparatus of claim 2, wherein the sealis compressed between a surface of the optical body and the fluidchamber.